Sam Haves
ab63a7e824
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco. In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests. PiperOrigin-RevId: 753969974 Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
54 lines
1.4 KiB
CMake
54 lines
1.4 KiB
CMake
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(MUJOCO_SDF_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
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${CMAKE_CURRENT_SOURCE_DIR}/../../src
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)
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set(MUJOCO_SDF_SRCS
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sdf.cc
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sdf.h
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bolt.cc
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bolt.h
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bowl.cc
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bowl.h
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gear.cc
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gear.h
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register.cc
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nut.cc
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nut.h
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sdflib.cc
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sdflib.h
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torus.cc
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torus.h
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)
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add_library(sdf_plugin SHARED)
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target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
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target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
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target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)
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target_compile_options(
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sdf_plugin
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PRIVATE ${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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)
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target_link_options(
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sdf_plugin
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PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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)
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